#include "WPILib.h"

//arm position
#define AUTOARM 10.0
#define askdlfj 10

//sidecar slots
#define LEFTSIDECAR 2
#define RIGHTSIDECAR 1

//jaguar ports
#define LEFTFRONT 10
#define LEFTBACK 9
#define RIGHTFRONT 10
#define RIGHTBACK 9

//joystick ports
#define MANIPSTICKPORT 3
#define STRAFESTICKPORT 2
#define SPINSTICKPORT 1
#define LEFTSTICK 2
#define RIGHTSTICK 1 
#define GAMEPORT 1 //if using a videogame controller

//line sensor ports
#define RIGHTLINESENSOR 12
#define MIDDLELINESENSOR 13
#define LEFTLINESENSOR 14

//encoder ports
#define LFENC_A 1
#define LFENC_B 2
#define RFENC_A 3
#define RFENC_B 4
#define LBENC_A 5
#define LBENC_B 6
#define RBENC_A 7
#define RBENC_B 8

//manipulator limit switch ports
#define BOTTOMLIMIT 1
#define LOSWITCH 2
#define LISWITCH 3
#define FEEDSWITCH 4
#define MOSWITCH 5
#define MISWITCH 6
#define TOPLIMIT 7


// for driver station I/O
#define HIGH_PEG 1
#define MID_PEG 2
#define LOW_PEG 3

//PID constants
#define Kp 1.00
#define Ki 0.00
#define Kd 0.00

//Other robot constants
#define wheelRadius 1.0
#define PI 3.1416
#define distancePerPulse4X /*wheelRadius * PI / 2*/ 1

//Spike ports
#define TOPSPINNINGWHEEL 6
#define BOTTOMSPINNINGWHEEL 5

//Gyro slot/channel
#define GYROSLOT 1
#define GYROCHANNEL 8
